CN111513839B - Electrosurgical system and control method - Google Patents
Electrosurgical system and control method Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
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- A61B2018/00636—Sensing and controlling the application of energy
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Abstract
An electrosurgical system and a method of controlling the same are disclosed. The method comprises the steps of obtaining a power error value and a power error change rate at the current moment, obtaining a control parameter variation according to the power error value and the power error change rate at the current moment and a predefined fuzzy rule, and adjusting a control parameter according to the control parameter variation to control the output power of the electrosurgical system. Therefore, the control parameters can be adaptively adjusted, and the precision of the output power of the electrosurgical system is improved.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an electrosurgical system and a control method thereof.
Background
Electrosurgery is a surgical treatment performed with coagulation and cauterization of high frequency current. The effect on the skin is generally to conduct heat to the tissue or to generate a thermal response in the tissue by means of an electric current. The electrosurgery commonly used in dermal surgery is electrocoagulation and electrosection, which are the same as those used in general surgery, while electrocautery, electro-desiccation and electrocautery are used in dermatology in combination with other treatments.
Currently, the power control of the electrosurgical system is commonly performed by a range comparison method and a PID (proportional, Integral, and derivative) algorithm. The interval comparison method has relatively low control precision on output power. The PID algorithm needs the experience of experts or a large amount of test data to support, overshoot and oscillation occur in practical use, and the power control is unstable under the condition that the time-varying property and nonlinearity of a controlled object are large.
Disclosure of Invention
In view of this, an object of the embodiments of the present invention is to provide an electrosurgical system and a control method thereof, which can adaptively adjust a control parameter and improve the accuracy of the output power of the electrosurgical system.
In a first aspect, embodiments of the present invention provide a control method for controlling output power of an electrosurgical system, the method comprising:
acquiring an input signal, wherein the input signal comprises a power error value and a power error change rate at the current moment;
obtaining a control parameter variation according to the power error value at the current moment, the power error variation rate and a predefined fuzzy rule, wherein the control parameter comprises a proportional coefficient, an integral time constant and a differential time constant;
acquiring the output power of the electrosurgical system according to the control parameter variation;
and generating a corresponding control signal according to the output power of the electrosurgical system, wherein the control signal is used for controlling a power generator to output corresponding power.
Preferably, the acquiring the input signal comprises:
acquiring a target power value;
acquiring an actual power value at the current moment;
obtaining a power error value of the current moment according to the actual power value and the target power value of the current moment, wherein the power error value is a difference between the actual power value and the target power value of the current moment;
acquiring a power error value at the previous moment; and
and obtaining the power error change rate according to the power error value at the current moment and the power error value at the previous moment.
Preferably, the obtaining of the actual power value at the current time includes:
acquiring output voltage and output current at the current moment; and
and calculating to obtain the actual power value of the current moment according to the output voltage and the output current of the current moment.
Preferably, obtaining the control parameter variation according to the power error value at the current time, the power error variation rate, and a predefined fuzzy rule includes:
fuzzy processing is carried out on the power error value at the current moment to obtain a first membership degree;
carrying out fuzzy processing on the power error change rate to obtain a second membership degree;
determining the membership degree of a control parameter according to the first membership degree, the second membership degree and the predefined fuzzy rule; and
and acquiring the variable quantity of the control parameter according to the membership degree of the control parameter.
Preferably, obtaining the output power of the electrosurgical system according to the control parameter variation comprises:
updating the control parameter according to the variable quantity of the control parameter; and
obtaining an output power of the electrosurgical system according to the updated control parameters;
wherein the control parameter is updated according to the following formula:
wherein Δ Kp, Δ Ki, and Δ Kd are respectively variation amounts of a proportional coefficient, an integral time constant, and a differential time constant, Kp ', Ki ', and Kd ' are respectively initial values of the proportional coefficient, the integral time constant, and the differential time constant, and Kp, Ki, and Kd are respectively updated values of the proportional coefficient, the integral time constant, and the differential time constant;
wherein the control signal is obtained according to the following formula:
where Pout is the output power, and e (t) is the power error at the current time.
In a second aspect, embodiments of the present invention provide an electrosurgical system, the system comprising:
a human-machine operation unit configured to acquire a target power value;
a voltage acquisition unit configured to acquire an output voltage;
a current acquisition unit configured to acquire an output current;
the control unit is configured to obtain an input signal according to the target power value, the output voltage and the output current, wherein the input signal comprises a power error value and a power error change rate at the current moment, obtain a control parameter variation according to the power error value, the power error change rate and a predefined fuzzy rule at the current moment, obtain output power according to the control parameter variation, and generate a corresponding control signal according to the output power, wherein the control parameter comprises a proportional coefficient, an integral time constant and a differential time constant;
a power generator configured to output a corresponding power according to the control signal; and
an electrode unit configured to receive the power output from the power generator and output the power.
Preferably, the control unit is configured to perform a fuzzy processing on the power error value at the current time to obtain a first degree of membership, perform a fuzzy processing on the power error change rate to obtain a second degree of membership, determine a control parameter intermediate variation according to the first degree of membership, the second degree of membership and the predefined fuzzy rule, and obtain the control parameter variation according to the control parameter intermediate variation.
Preferably, the control unit is configured to update a control parameter according to the control parameter variation, and acquire the output power of the electrosurgical system according to the updated control parameter;
wherein the control parameter is updated according to the following formula:
wherein Δ Kp, Δ Ki, and Δ Kd are respectively variation amounts of a proportional coefficient, an integral time constant, and a differential time constant, Kp ', Ki ', and Kd ' are respectively initial values of the proportional coefficient, the integral time constant, and the differential time constant, and Kp, Ki, and Kd are respectively updated values of the proportional coefficient, the integral time constant, and the differential time constant;
wherein the control signal is obtained according to the following formula:
where Pout is the output power, and e (t) is the power error at the current time.
Preferably, the control signal is a digital signal;
the system further comprises:
a digital-to-analog conversion unit configured to convert the control signal into an analog signal.
Preferably, the system further comprises:
a voltage processing unit configured to process the output voltage acquired by the voltage acquisition unit; and
a current processing unit configured to process the output current acquired by the current acquisition unit.
According to the technical scheme of the embodiment of the invention, the power error value and the power error change rate at the current moment are obtained, the control parameter variation is obtained according to the power error value, the power error change rate and the predefined fuzzy rule at the current moment, and the control parameter is adjusted according to the control parameter variation to control the output power of the electrosurgical system. Therefore, the control parameters can be adaptively adjusted, and the precision of the output power of the electrosurgical system is improved.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:
FIG. 1 is a schematic structural view of an electrosurgical system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a control method of an embodiment of the present invention;
FIG. 3 is a flow chart of acquiring an input signal according to an embodiment of the present invention;
FIG. 4 is a flowchart of obtaining variation of a control parameter according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a fuzzy rule table for scaling factors in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of a fuzzy rule table of integration time constants for an embodiment of the present invention;
FIG. 7 is a schematic diagram of a fuzzy rule table of differential time constants for an embodiment of the present invention;
FIG. 8 is a power curve diagram of an embodiment of the present invention;
fig. 9 is a schematic diagram of an electronic device of an embodiment of the invention.
Detailed Description
The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details. Well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present invention.
Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.
Meanwhile, it should be understood that, in the following description, a "circuit" refers to a conductive loop constituted by at least one element or sub-circuit through electrical or electromagnetic connection. When an element or circuit is referred to as being "connected to" another element or element/circuit is referred to as being "connected between" two nodes, it may be directly coupled or connected to the other element or intervening elements may be present, and the connection between the elements may be physical, logical, or a combination thereof. In contrast, when an element is referred to as being "directly coupled" or "directly connected" to another element, it is intended that there are no intervening elements present.
Unless the context clearly requires otherwise, throughout the description, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".
In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Fig. 1 is a schematic structural view of an electrosurgical system according to an embodiment of the present invention. As shown in fig. 1, the electrosurgical system according to the embodiment of the present invention includes a human-machine operation unit 1, a control unit 2, a digital-to-analog conversion unit 3, a power generator 4, an electrode unit 5, a voltage acquisition unit 6, and a current acquisition unit 7. Wherein the human-machine operation unit 1 is configured to acquire a target power value. The voltage acquisition unit 6 is configured to acquire an output voltage. The current obtaining unit 7 is configured to obtain an output current. The control unit 2 is configured to obtain an input signal according to the target power value, the output voltage and the output current, wherein the input signal includes a power error value and a power error change rate at a current time, obtain a control parameter variation according to the power error value, the power error change rate and a predefined fuzzy rule at the current time, and obtain the output power according to the control parameter variation, wherein the control parameter includes a proportional coefficient, an integral time constant and a differential time constant. The power generator 4 is configured to derive a control signal from the output power. The electrode unit 5 is controlled by the control signal to perform corresponding actions.
In this embodiment, the human-machine operation unit 1 is used to obtain external data, and a worker can input a target power value through the human-machine operation unit 1 according to a specific surgical requirement. Specifically, the corresponding target power value may be input according to the surgical operation. The surgical operation comprises cutting, coagulation and the like.
In the present embodiment, the voltage acquisition unit 6 is configured to acquire the output voltage in real time. Further, the voltage acquisition unit 6 is configured to acquire an output voltage sampling signal, which is used to characterize an output voltage of the electrosurgical system. The voltage obtaining unit 6 can be implemented by using various existing output voltage sampling circuits.
Preferably, the electrosurgical system of the embodiment of the present invention further includes a voltage processing unit 8 connected to the voltage obtaining unit 6, and configured to compensate the output voltage sampling signal output by the voltage obtaining unit 6, so that the compensated signal is equal to the output voltage of the electrosurgical system.
In the present embodiment, the current obtaining unit 7 is used to obtain the output current in real time. Further, the current obtaining unit 7 is configured to obtain an output current sampling signal, which is used for characterizing an output current of the electrosurgical system. The current obtaining unit 7 can be implemented by using various existing output current sampling circuits.
Preferably, the electrosurgical system of the embodiment of the present invention further includes a current processing unit 9 connected to the current obtaining unit 7, and configured to compensate the output current sampling signal output by the current obtaining unit 7, so that the compensated signal is equal to the output current of the electrosurgical system.
In the present embodiment, the control unit 2 is configured to obtain the output power of the electrosurgical system according to the target power value, the output voltage and the output current, and specifically, the steps of the control method of the control unit 2 may refer to fig. 2, including the following steps:
and step S100, acquiring an input signal.
In this embodiment, the input signal includes a power error value and a power error change rate at the current time. Specifically, the control unit 2 obtains the input signal, which is referred to in fig. 3, and includes the following steps:
and step S110, acquiring a target power value.
In the present embodiment, the control unit 2 acquires the target power value Pg from the human operation unit 1.
And step S120, acquiring the actual power value of the current moment.
In this embodiment, the control unit 2 obtains the output voltage Vout output by the voltage processing unit 8, obtains the output current Iout output by the current processing unit 9, and calculates and obtains the actual power value Pr at the present time according to the output current Iout and the output voltage Vout.
Further, the formula for calculating the actual power value Pr at the current time is as follows:
Pr＝Vout*Iout
wherein, Vout is output voltage, Iout is output current, and Pr is actual power value.
Step S130, obtaining a power error value e (t) at the current time according to the actual power value and the target power value at the current time.
In this embodiment, the power error value is a difference between the actual power value and the target power value at the current time.
Further, the formula for calculating the power error value e (t) at the current time is as follows:
e(t)＝Pr-Pg
where e (t) is the power error value at the current time, Pg is the target power value, and Pr is the actual power value at the current time.
Step S140, a power error value at the previous time is obtained.
In this embodiment, the control unit 2 obtains the power error value e (t-1) at the previous time according to the step S130.
Further, the power error value e (t-1) at the previous time is a difference between the actual power value and the target power value at the previous time.
Step S150, obtaining the power error change rate according to the power error value at the current time and the power error value at the previous time.
Further, the formula for obtaining the power error change rate is as follows:
wherein e (t-1) is the power error value at the previous time, e (t) is the power error value at the current time, and ec is the power error change rate.
Therefore, the power error value e (t) and the power error change rate ec at the current moment can be obtained.
And S200, acquiring the variable quantity of the control parameter according to the power error value at the current moment, the power error change rate and a predefined fuzzy rule.
In the present embodiment, the control unit 2 is configured to perform control by a PID algorithm. The PID control algorithm is a control algorithm which combines three links of proportion, integral and differential into a whole, operation is carried out according to the input deviation value and the functional relation of proportion, integral and differential, and the operation result is used for controlling output.
Further, the control parameters include a proportional coefficient, an integral time constant, and a derivative time constant.
Specifically, obtaining the control parameter variation may include the following steps with reference to fig. 4:
step S210, performing a fuzzy processing on the power error value at the current time to obtain a first membership degree.
In the present embodiment, the control unit 2 is configured to realize control by a fuzzy adaptive PID algorithm. The control unit 2 comprises a fuzzy controller and a PID controller, wherein the fuzzy controller takes an error e and an error change rate ec as input, and self-adaptively adjusts parameters Kp, Ki and Kd of the PID controller by using a fuzzy rule so as to keep a controlled object in a good dynamic and static stable state. Compared with the traditional PID control, the fuzzy self-adaptive PID is more flexible and stable, and particularly has more outstanding advantages for the controlled object with larger time-varying property and nonlinearity.
In this embodiment, a first membership function is preset, and a power error value at the current time is subjected to a fuzzy processing according to the first membership function to obtain a first membership.
Further, in order to facilitate data processing, the embodiment of the present invention divides the first membership degree into seven levels, which are: negative Big (NB), Negative Medium (NM), Negative Small (NS), Zero (ZO), Positive Small (PS), Positive Medium (PM), and Positive Big (PB). That is, e (t) corresponds to a fuzzy subset of e (t) { NB, NM, NS, ZO, PS, PM, PB }.
Optionally, e (t) { -3, -2, -1,0,1,2,3 }.
And step S220, carrying out fuzzy processing on the power error change rate to obtain a second membership degree.
In this embodiment, a second membership function is preset, and the power error change rate is subjected to a fuzzy processing according to the second membership function to obtain a second membership.
Further, in order to facilitate data processing, in the embodiment of the present invention, the second membership degrees are all divided into seven levels, which are: negative Big (NB), Negative Medium (NM), Negative Small (NS), Zero (ZO), Positive Small (PS), Positive Medium (PM), and Positive Big (PB). That is, the fuzzy subset corresponding to ec is ec ═ { NB, NM, NS, ZO, PS, PM, PB }.
Optionally, ec { -3, -2, -1,0,1,2,3 }.
And step S230, determining the membership degree of the control parameter according to the first membership degree, the second membership degree and the predefined fuzzy rule.
In this embodiment, a fuzzy rule table is preset according to an actual application scenario, and a control parameter membership degree is determined according to the fuzzy rule table, the first membership degree and the second membership degree.
Specifically, fig. 5 is a schematic diagram of a fuzzy rule table of scale factors according to an embodiment of the present invention. As shown in fig. 5, the change condition of the second membership degree corresponding to the power error change rate ec is represented in the horizontal direction, and the change condition of the first membership degree corresponding to the power error value e (t) at the current time is represented in the vertical direction, so that the membership degree Gp of the scaling factor can be determined according to the fuzzy rule table of the scaling factor. For example, assuming that the first degree of membership is NS and the second degree of membership is PS, the degree of membership of the scaling factor is ZO.
In the present embodiment, the proportional coefficient Kp functions to change the output power in a direction to reduce the deviation, and the larger Kp, the shorter the transition time, so that the steady deviation is smaller. If Kp is too small, the adjustment accuracy is lowered, and the response speed is slow. Therefore, the adjusting time is prolonged, and the steady-state and dynamic characteristics of the system are deteriorated.
FIG. 6 is a schematic diagram of a fuzzy rule table of integration time constants in accordance with an embodiment of the present invention. As shown in fig. 6, the change condition of the second membership degree corresponding to the power error change rate ec is represented in the horizontal direction, and the change condition of the first membership degree corresponding to the power error value e (t) at the current time is represented in the vertical direction, so that the membership degree Gi of the integral time constant can be determined according to the fuzzy rule table of the integral time constant. For example, assuming that the first degree of membership is NS and the second degree of membership is PS, the degree of membership of the integration time constant is ZO.
In this embodiment, as long as there is a deviation, the control action of the integration element will make the deviation accumulate continuously, so that the deviation can be eliminated by the integration time constant. Ki is larger, static error of the system is eliminated faster, but Ki is too large, integral saturation phenomenon can be generated at the initial stage of the response process, so that large overshoot of the response process is caused, and if Ki is too small, static error of the system is difficult to eliminate, and the adjustment precision of the system is influenced.
FIG. 7 is a schematic diagram of a fuzzy rule table of differential time constants according to an embodiment of the present invention. As shown in fig. 7, the change condition of the second membership degree corresponding to the power error change rate ec is represented in the horizontal direction, and the change condition of the first membership degree corresponding to the power error value e (t) at the current time is represented in the vertical direction, so that the membership degree Gd of the differential time constant can be determined according to the fuzzy rule table of the differential time constant. For example, assuming that the first degree of membership is NS and the second degree of membership is PS, the degree of membership of the differential time constant is NS.
In this embodiment, the differential link is used to improve the dynamic characteristics of the system, and mainly has the functions of suppressing the variation of the deviation in any direction in the response process and predicting the variation of the deviation in advance, but Kd is too large, so that the response process is braked in advance, the adjustment time is prolonged, and the anti-interference performance of the system is reduced.
As can be seen from fig. 5-7 above:
when e (t) is larger, Kp should be larger in order to increase the response speed of the system. However, to avoid the control action exceeding the permissible range due to differential saturation which may occur as the deviation e (t) at the beginning increases instantaneously, a smaller Kd should be used. Meanwhile, in order to prevent the system response from generating large overshoot, integral saturation is generated, and the integral action is limited, and usually Ki is equal to 0.
When the deviation e (t) is in a medium size, Kp should be smaller and Ki should be properly set in order to make the system response have smaller overshoot. Under the condition, the value of Kd has large influence on the system, and the value is moderate in size so as to ensure the response speed of the system.
When the deviation e (t) is small, i.e. close to the set value, values of Kp and Ki should be increased to make the system have good stability characteristics, and meanwhile, to avoid oscillation near the set value of the system, the anti-interference performance of the system should be enhanced. Kd should take a larger value when ec is smaller and a smaller value when ec is larger.
And S240, acquiring the variable quantity of the control parameter according to the membership degree of the control parameter.
In the present embodiment, the degrees of membership Gp, Gi, Gd of the proportional coefficient, the integral time constant, and the derivative time constant are respectively obtained by the above step S230, and the deblurring processing is performed on the respective Gp, Gi, Gd to obtain the amounts of change Δ Kp, Δ Ki, and Δ Kd of the proportional coefficient, the integral time constant, and the derivative time constant.
Specifically, the deblurring processing method may adopt various existing deblurring methods, and in an optional implementation, the following method may be adopted for deblurring:
and step S241, calculating other data variables.
eLeftIndex＝(int)e；
eRightIndex＝eLeftIndex；
eLeftIndex＝(int)((etemp-0.5)+3)；
eRightIndex＝(int)((etemp+0.5)+3)；
-elettemp ═ ememp ═ 0.00.0: ((ememp +0.5) -e); (eLefttemp equals 0 if etemp is 0, eLefttemp ═ 0.5-e if etemp is not equal to 0;)
eRighttemp＝etemp＝＝0.00.0:(e-(etemp-0.5))；
ecLeftIndex＝(int)((ectemp-0.5)+3)；
ecRightIndex＝(int)((ectemp+0.5)+3)；
ecLefttemp＝ectemp＝＝0.00.0:((ectemp+0.5)-ec)；
ecRighttemp＝ectemp＝＝0.00.0:(ec-(ectemp-0.5))；
And step S242, acquiring the variable quantity of the control parameter according to other data variables.
Specifically, the formula for calculating the change amount of the proportionality coefficient is as follows: Δ Kp ═
(eLefttemp*ecLefttemp*fuzzyRuleKp[ecLeftIndex][eLeftIndex]+
eLefttemp*ecRighttemp*fuzzyRuleKp[ecRightIndex][eLeftIndex]+
eRighttemp*ecLefttemp*fuzzyRuleKp[ecLeftIndex][eRightIndex]+
eRighttemp*ecRighttemp*fuzzyRuleKp[ecRightIndex][eRightIndex])
The formula for calculating the variation of the integration time constant is as follows: Δ Ki ═
(eLefttemp*ecLefttemp*fuzzyRuleKi[ecLeftIndex][eLeftIndex]+
eLefttemp*ecRighttemp*fuzzyRuleKi[ecRightIndex][eLeftIndex]+
eRighttemp*ecLefttemp*fuzzyRuleKi[ecLeftIndex][eRightIndex]+
eRighttemp*ecRighttemp*fuzzyRuleKi[ecRightIndex][eRightIndex])
The equation for calculating the differential time constant variation is: Δ Kd ═
(eLefttemp*ecLefttemp*fuzzyRuleKd[ecLeftIndex][eLeftIndex]+
eLefttemp*ecRighttemp*fuzzyRuleKd[ecRightIndex][eLeftIndex]+
eRighttemp*ecLefttemp*fuzzyRuleKd[ecLeftIndex][eRightIndex]+
eRighttemp*ecRighttemp*fuzzyRuleKd[ecRightIndex][eRightIndex])
And step S300, acquiring the output power of the electrosurgical system according to the control parameter variation.
In this embodiment, the control parameter variations Δ Kp, Δ Ki, and Δ Kd are calculated and obtained according to the above steps, and the output power of the electrosurgical system is obtained according to the control parameter variations. The method specifically comprises the following steps:
step S310, updating the control parameter according to the control parameter variation
Wherein the control parameter is updated according to the following formula:
wherein Δ Kp, Δ Ki, and Δ Kd are respectively variation amounts of a proportional coefficient, an integral time constant, and a derivative time constant, Kp ', Ki ', and Kd ' are respectively initial values of the proportional coefficient, the integral time constant, and the derivative time constant, and Kp, Ki, and Kd are respectively updated values of the proportional coefficient, the integral time constant, and the derivative time constant.
In the present embodiment, initial values of the proportional coefficient, the integral time constant, and the derivative time constant may be set in advance.
And step S320, acquiring the output power of the electrosurgical system according to the updated control parameters.
Wherein the output power is obtained according to the following formula:
where Pout is the output power, and e (t) is the power error value at the current time.
Therefore, the output power Vout of the electrosurgical system can be obtained, and the control signal Dg is generated according to the output power Vout to control the operation of the electrosurgical system.
In the present embodiment, the control signal Dg is a digital signal, and the digital-to-analog conversion unit 3 is configured to generate a corresponding analog signal Vg according to the control signal Dg. The digital-to-analog conversion unit 3 can be implemented by various existing analog-to-digital converters.
In this embodiment, the power generator 4 is connected to the output end of the analog-to-digital conversion unit 3, and configured to generate a corresponding power signal according to the analog signal Vg.
In the present embodiment, the electrode unit 5 is configured to receive the power signal and perform corresponding operations, such as cutting, coagulation, etc.
FIG. 8 is a power curve diagram of an embodiment of the invention. As shown in fig. 8, the dotted line is a power curve of a general PID algorithm in the prior art, and the solid line is a power curve of a fuzzy rule PID algorithm according to an embodiment of the present invention. In the figure, the ordinate is the output power, the abscissa is the load resistance, and the embodiment of the present invention is described by taking the target power value of 40W as an example, as shown in the figure, the output power value of the fuzzy rule PID algorithm of the embodiment of the present invention is closer to the target power value.
According to the technical scheme of the embodiment of the invention, the power error value and the power error change rate at the current moment are obtained, the control parameter variation is obtained according to the power error value, the power error change rate and the predefined fuzzy rule at the current moment, and the control parameter is adjusted according to the control parameter variation to control the output power of the electrosurgical system. Therefore, the control parameters can be adaptively adjusted, and the precision of the output power of the electrosurgical system is improved.
Fig. 9 is a schematic diagram of an electronic device of an embodiment of the invention. The electronic device shown in fig. 9 is a general-purpose data processing apparatus comprising a general-purpose computer hardware structure including at least a processor 91 and a memory 92. The processor 91 and the memory 92 are connected by a bus 93. The memory 92 is adapted to store instructions or programs executable by the processor 91. The processor 91 may be a stand-alone microprocessor or may be a collection of one or more microprocessors. Thus, the processor 91 implements the processing of data and the control of other devices by executing instructions stored by the memory 92 to perform the method flows of embodiments of the present invention as described above. The bus 93 connects the above components together, and also connects the above components to a display controller 94 and a display device and an input/output (I/O) device 95. Input/output (I/O) devices 95 may be a mouse, keyboard, modem, network interface, touch input device, motion sensing input device, printer, and other devices known in the art. Typically, the input/output devices 95 are coupled to the system through an input/output (I/O) controller 96.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus (device) or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations of methods, apparatus (devices) and computer program products according to embodiments of the application. It will be understood that each flow in the flow diagrams can be implemented by computer program instructions.
These computer program instructions may be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows.
These computer program instructions may also be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A method of controlling the output power of an electrosurgical system, the method comprising:
acquiring an input signal, wherein the input signal comprises a power error value and a power error change rate at the current moment;
obtaining a control parameter variation according to the power error value at the current moment, the power error variation rate and a predefined fuzzy rule, wherein the control parameter comprises a proportional coefficient, an integral time constant and a differential time constant;
acquiring the output power of the electrosurgical system according to the control parameter variation;
generating a corresponding control signal according to the output power of the electrosurgical system, wherein the control signal is used for controlling a power generator to output corresponding power;
obtaining the control parameter variation according to the power error value at the current moment, the power error variation rate and a predefined fuzzy rule comprises:
fuzzy processing is carried out on the power error value at the current moment to obtain a first membership degree;
carrying out fuzzy processing on the power error change rate to obtain a second membership degree;
determining the membership degree of a control parameter according to the first membership degree, the second membership degree and the predefined fuzzy rule; and
acquiring the variable quantity of the control parameter according to the membership degree of the control parameter;
obtaining the output power of the electrosurgical system according to the control parameter variation comprises:
updating the control parameter according to the variable quantity of the control parameter; and
obtaining an output power of the electrosurgical system according to the updated control parameters;
wherein the control parameter is updated according to the following formula:
wherein Δ Kp, Δ Ki, and Δ Kd are respectively variation amounts of a proportional coefficient, an integral time constant, and a differential time constant, Kp ', Ki ', and Kd ' are respectively initial values of the proportional coefficient, the integral time constant, and the differential time constant, and Kp, Ki, and Kd are respectively updated values of the proportional coefficient, the integral time constant, and the differential time constant;
wherein the control signal is obtained according to the following formula:
where Pout is the output power, and e (t) is the power error at the current time.
2. The method of claim 1, wherein the obtaining the input signal comprises:
acquiring a target power value;
acquiring an actual power value at the current moment;
obtaining a power error value of the current moment according to the actual power value and the target power value of the current moment, wherein the power error value is a difference between the actual power value and the target power value of the current moment;
acquiring a power error value at the previous moment; and
and obtaining the power error change rate according to the power error value at the current moment and the power error value at the previous moment.
3. The method of claim 2, wherein obtaining the actual power value at the current time comprises:
acquiring output voltage and output current at the current moment; and
and calculating to obtain the actual power value of the current moment according to the output voltage and the output current of the current moment.
4. An electrosurgical system, characterized in that the system comprises:
a human-machine operation unit configured to acquire a target power value;
a voltage acquisition unit configured to acquire an output voltage;
a current acquisition unit configured to acquire an output current;
the control unit is configured to obtain an input signal according to the target power value, the output voltage and the output current, wherein the input signal comprises a power error value and a power error change rate at the current moment, obtain a control parameter variation according to the power error value, the power error change rate and a predefined fuzzy rule at the current moment, obtain output power according to the control parameter variation, and generate a corresponding control signal according to the output power, wherein the control parameter comprises a proportional coefficient, an integral time constant and a differential time constant;
a power generator configured to output a corresponding power according to the control signal; and
an electrode unit configured to receive the power output from the power generator and output the power;
the control unit is configured to perform fuzzy processing on the power error value at the current moment to obtain a first membership degree, perform fuzzy processing on the power error change rate to obtain a second membership degree, determine a control parameter intermediate variation according to the first membership degree, the second membership degree and the predefined fuzzy rule, and obtain the control parameter variation according to the control parameter intermediate variation;
the control unit is configured to update a control parameter according to the control parameter variation, and acquire the output power of the electrosurgical system according to the updated control parameter;
wherein the control parameter is updated according to the following formula:
wherein Δ Kp, Δ Ki, and Δ Kd are respectively variation amounts of a proportional coefficient, an integral time constant, and a differential time constant, Kp ', Ki ', and Kd ' are respectively initial values of the proportional coefficient, the integral time constant, and the differential time constant, and Kp, Ki, and Kd are respectively updated values of the proportional coefficient, the integral time constant, and the differential time constant;
wherein the control signal is obtained according to the following formula:
where Pout is the output power, and e (t) is the power error at the current time.
5. The system of claim 4, wherein the control signal is a digital signal;
the system further comprises:
a digital-to-analog conversion unit configured to convert the control signal into an analog signal.
6. The system of claim 4, further comprising:
a voltage processing unit configured to process the output voltage acquired by the voltage acquisition unit; and
a current processing unit configured to process the output current acquired by the current acquisition unit.
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